Glider dive log

NASCAR Dec16 * SG528 * Dive index * Mission links * Dive 655 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 528 HD_C 4.38354e-05 ROLL_DEG 40 ALTIM_BOTTOM_PING_RANGE 0

MISSION 3 HEADING -1 C_ROLL_DIVE 2350 ALTIM_TOP_PING_RANGE 0

DIVE 655 ESCAPE_HEADING 0 C_ROLL_CLIMB 2350 ALTIM_BOTTOM_TURN_MARGIN 12

N_DIVES 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 170 ALTIM_TOP_TURN_MARGIN 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 TGT_DEFAULT_LAT 4212 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LON -7043 R_PORT_OVSHOOT 19 ALTIM_PING_DELTA 10

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 22 ALTIM_FREQUENCY 13

D_NO_BLEED 50 SM_CC 450 ROLL_AD_RATE 250 ALTIM_PULSE 3

D_BOOST 20 N_FILEKB 8 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

T_BOOST 5 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_VALID 2

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_PITCH 0 COMM_SEQ 0 VBD_MIN 500 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 PROTOCOL 9 VBD_MAX 3959 INT_PRESSURE_YINT 0.85000002

D_CALL 0 N_NOCOMM 2 C_VBD 2867 DEEPGLIDER 0

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.245296 DEVICE1 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE2 -1

T_DIVE 520 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE3 -1

T_MISSION 1000 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00211 DEVICE4 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE5 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 DEVICE6 -1

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_NO_W 120 T_GPS 5 UNCOM_BLEED 50 LOGGERDEVICE1 -1

T_LOITER 28800 N_GPS 100440 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

T_EPIRB 0 T_RSLEEP 1 W_ADJ_DBAND 3 LOGGERDEVICE3 -1

USE_BATHY -6 STROBE 0 DBDW 0 LOGGERDEVICE4 -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 7 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0.5 COMPASS2_DEVICE -1

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 PHONE_DEVICE 49

T_WATCHDOG 10 PITCH_MIN 200 AH0_24V 350 GPS_DEVICE 32

RELAUNCH 1 PITCH_MAX 3970 AH0_10V 0 RAFOS_DEVICE -1

APOGEE_PITCH -5 C_PITCH 3220 MINV_24V 10.5 XPDR_DEVICE 24

MAX_BUOY 90 PITCH_DBAND 0.1 MINV_10V 10.5 SIM_W 0

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_24V 0.60000002 SIM_PITCH 0

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 MAXI_10V 0.80000001 SEABIRD_T_G 0.0043548695

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SEABIRD_T_H 0.0006268858

RHO 1.0275 PITCH_GAIN 27 FG_AHR_24V 0 SEABIRD_T_I 2.3578436e-05

MASS 52309 PITCH_TIMEOUT 16 PHONE_SUPPLY -2 SEABIRD_T_J 2.4722265e-06

MASS_COMP 0 PITCH_AD_RATE 120 PRESSURE_YINT -56.708107 SEABIRD_C_G -10.467909

NAV_MODE 2 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00011645618 SEABIRD_C_H 1.2025218

FERRY_MAX 45 PITCH_ADJ_GAIN 0 AD7714Ch0Gain 128 SEABIRD_C_I -0.00091677177

KALMAN_USE 2 PITCH_ADJ_DBAND 0 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00016246161

HD_A 0.0026437801 ROLL_MIN 300 TCM_ROLL_OFFSET 0

HD_B 0.018580301 ROLL_MAX 3830 COMPASS_USE 4

AD7714Ch0Gain 128 D_PITCH 0 PHONE_DEVICE 49 SIM_PITCH 0

AH0_10V 0 D_SAFE 0 PHONE_SUPPLY -2 SIM_W 0

AH0_24V 350 D_SURF 3 PITCH_ADJ_DBAND 0 SM_CC 450

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 12 ESCAPE_HEADING 0 PITCH_AD_RATE 120 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_GAIN 27 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_MAX 3970 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 16 TGT_DEFAULT_LAT 4212

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.00211 TGT_DEFAULT_LON -7043

APOGEE_PITCH -5 HD_A 0.0026437801 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_NDIVES 1 HD_B 0.018580301 PITCH_W_GAIN 7 T_BOOST 5

CALL_TRIES 5 HD_C 4.38354e-05 PRESSURE_SLOPE 0.00011645618 T_DIVE 520

CALL_WAIT 60 HEADING -1 PRESSURE_YINT -56.708107 T_EPIRB 0

CAPMAXSIZE 100000 HEAD_ERRBAND 170 PROTOCOL 9 T_GPS 5

CAPUPLOAD 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_LOITER 28800

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0 T_MISSION 1000

COMM_SEQ 0 ID 528 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_RSLEEP 1

COMPASS_DEVICE 33 INT_PRESSURE_YINT 0.85000002 RAFOS_HIT_WINDOW 3600 T_TURN 225

COMPASS_USE 4 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

COURSE_BIAS 0 LOGGERDEVICE1 -1 RELAUNCH 1 T_WATCHDOG 10

C_PITCH 3220 LOGGERDEVICE2 -1 RHO 1.0275 UNCOM_BLEED 50

C_ROLL_CLIMB 2350 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2350 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 USE_BATHY -6

C_VBD 2867 LOGGERS 0 ROLL_AD_RATE 250 USE_ICE 0

DBDW 0 MASS 52309 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS_COMP 0 ROLL_DEG 40 VBD_CNV -0.245296

DEVICE1 2 MAXI_10V 0.80000001 ROLL_MAX 3830 VBD_DBAND 2

DEVICE2 -1 MAXI_24V 0.60000002 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE3 -1 MAX_BUOY 90 ROLL_MIN 300 VBD_MAX 3959

DEVICE4 -1 MINV_10V 10.5 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE5 -1 MINV_24V 10.5 R_PORT_OVSHOOT 19 VBD_MIN 500

DEVICE6 -1 MISSION 3 R_STBD_OVSHOOT 22 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 655 MOTHERBOARD 4 SEABIRD_C_G -10.467909 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1020 NAV_MODE 2 SEABIRD_C_H 1.2025218 VBD_TIMEOUT 720

D_BOOST 20 NOCOMM_ACTION 163 SEABIRD_C_I -0.00091677177 W_ADJ_DBAND 3

D_CALL 0 N_DIVES 0 SEABIRD_C_J 0.00016246161 XPDR_DEVICE 24

D_FINISH 0 N_FILEKB 8 SEABIRD_T_G 0.0043548695 XPDR_INHIBIT 90

D_FLARE 3 N_GPS 100440 SEABIRD_T_H 0.0006268858 XPDR_VALID 2

D_NO_BLEED 50 N_NOCOMM 2 SEABIRD_T_I 2.3578436e-05

D_OFFGRID 1000 N_NOSURFACE 0 SEABIRD_T_J 2.4722265e-06

Pre-dive calculations and measurements:

GPS1 120617,164229,321.3213,5651.9658,39,1.0,42,-2.3,0.5,105.5,7,9.1 SPEED_LIMITS 0.110,0.112

_CALLS 1 TGT_NAME DIGURA

_XMS_NAKs 0 TGT_LATLONG 330.000,7230.000

_XMS_TOUTs 0 TGT_RADIUS 10000.000

_SM_DEPTHo 0.64 MHEAD_RNG_PITCHd_Wd 110.0,1733917,-19.0,-6.346,-29.47,1557

_SM_ANGLEo -71.3 D_GRID 1000

GPS2 120617,164801,321.2835,5652.0508,7,0.8,12,-2.3,0.9,119.4,9,8.9

Post-dive calculations and measurements:

FINISH -0.4,1.000073 _10V_AH 13.08,0.000

SM_CCo 55346,100.00,0.074,0,0,1031,450.12 FG_AHR_24Vo 0.000

SM_GC 0.56,10.00,0.00,100.00,0.065,0.000,0.074,171,2351,1031,-9.41,0.03,450.12,0,0,0,0,0,0,14.38,14.95,14.33 FG_AHR_10Vo 0.000

IRIDIUM_FIX 316.36,5650.96,120617,010327 MEM 310156

TT8_MAMPS 0.025466,0.110852 DATA_FILE_SIZE 50058,1128

HUMID 48.22 CAP_FILE_SIZE 218214,0

INTERNAL_PRESSURE 9.70776 CFSIZE 2097872896,2007334912

TCM_TEMP 26.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 278 CURRENT 0.081,93.01,1

_24V_AH 12.57,188.219 GPS 130617,081400,321.168,5654.378,41,1.1,44,-2.3,0.3,104.1,7,9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 345 111.60 SBE_CT 632 23 184.50

Roll_motor 30 120 46.57 nil 0 0 0.00

VBD_pump_during_apogee 274 2126 7334.76 nil 0 0 0.00

VBD_pump_during_surface 100 74 93.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 218 174 478.72 nil 0 0 0.00

Transponder_ping 69 420 366.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 44 7.62

TT8 2847 11 426.79

LPSleep 50076 2 1434.45

TT8_Active 594 11 89.11

TT8_Sampling 1818 31 753.89

TT8_CF8 435 37 214.82

TT8_Kalman 0 0 0.00

Analog_circuits 1779 15 360.71

GPS_charging 0 0 0.00

Compass 1608 16 346.73

RAFOS 0 0 0.00

Transponder 0 5 0.04

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.89 -87.6 169 2370 1040 1003 0.0 0.0 0 102 0.00 0.00 -83.50 0.000 16390 0.000 0.000 169 2371 3226 3082 3370 0 0 0 0 0 0 14.80 12.57 14.71

105 -0.89 -87.6 169 2370 3083 3369 1.6 0.0 1 118 11.40 0.00 0.00 0.000 2054 0.346 0.000 2929 2370 3227 3084 3371 0 0 0 0 0 0 13.97 14.40 14.32

383 -0.89 -87.6 2929 2370 3083 3375 46.0 -12.9 6 389 0.00 2.62 0.00 0.000 516 0.000 0.120 2929 937 3229 3084 3375 0 0 0 0 0 0 14.92 14.08 14.95

490 -0.89 -87.6 2929 937 3084 3376 59.1 -12.4 28 494 0.00 2.47 0.00 0.000 1030 0.000 0.083 2929 2350 3229 3084 3375 0 0 0 0 0 0 14.42 14.26 14.46

797 -0.89 -87.6 2928 2350 3084 3377 91.8 -10.3 34 799 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2351 3230 3084 3377 0 0 0 0 0 0 14.99 15.00 15.00

1098 -0.89 -87.6 2928 2350 3084 3379 114.7 -7.6 39 1099 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3231 3084 3379 0 0 0 0 0 0 15.01 15.02 15.02

1396 -0.89 -87.6 2929 2351 3085 3379 128.4 -4.2 44 1397 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3232 3085 3379 0 0 0 0 0 0 15.03 15.04 15.04

1696 -0.89 -87.6 2929 2350 3086 3379 147.5 -6.4 49 1698 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2351 3233 3086 3380 0 0 0 0 0 0 15.03 15.05 15.05

1997 -0.89 -87.6 2928 2351 3086 3380 167.4 -6.5 54 1998 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2351 3232 3086 3379 0 0 0 0 0 0 15.03 15.05 15.05

2298 -0.89 -87.6 2929 2351 3086 3379 182.1 -4.8 59 2299 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3232 3086 3379 0 0 0 0 0 0 15.03 15.05 15.04

2596 -0.89 -87.6 2928 2350 3086 3379 200.0 -6.2 64 2598 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3232 3086 3379 0 0 0 0 0 0 15.04 15.06 15.05

2896 -0.89 -87.6 2929 2350 3086 3378 220.1 -6.8 69 2897 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3232 3086 3378 0 0 0 0 0 0 15.04 15.06 15.05

3197 -0.89 -87.6 2929 2350 3086 3375 241.9 -7.2 74 3198 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2351 3230 3085 3375 0 0 0 0 0 0 15.04 15.06 15.05

3498 -0.89 -87.6 2929 2351 3085 3371 262.2 -6.7 79 3499 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3228 3085 3371 0 0 0 0 0 0 15.03 15.04 15.04

3796 -0.89 -87.6 2929 2350 3083 3370 280.6 -6.1 84 3797 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3226 3083 3370 0 0 0 0 0 0 15.04 15.06 15.05

4096 -0.89 -87.6 2929 2350 3082 3368 299.0 -6.1 89 4097 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3225 3082 3368 0 0 0 0 0 0 15.04 15.06 15.05

4397 -0.89 -87.6 2928 2350 3081 3365 319.3 -6.8 94 4398 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3222 3080 3365 0 0 0 0 0 0 15.03 15.05 15.06

4698 -0.89 -87.6 2928 2350 3078 3363 339.6 -6.8 99 4699 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3220 3078 3363 0 0 0 0 0 0 15.02 15.04 15.04

4996 -0.89 -87.6 2929 2350 3076 3361 356.8 -5.5 104 4997 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2351 3218 3076 3361 0 0 0 0 0 0 15.03 15.05 15.05

5296 -0.89 -87.6 2929 2351 3076 3358 370.6 -4.6 109 5298 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2351 3217 3076 3358 0 0 0 0 0 0 15.03 15.05 15.04

5597 -0.89 -87.6 2929 2350 3073 3356 385.1 -4.9 114 5598 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3214 3073 3356 0 0 0 0 0 0 15.02 15.05 15.04

5898 -0.89 -87.6 2929 2350 3072 3354 401.6 -5.6 119 5899 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3213 3072 3354 0 0 0 0 0 0 15.02 15.04 15.04

6196 -0.89 -87.6 2929 2350 3071 3352 419.6 -6.1 124 6197 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3212 3072 3353 0 0 0 0 0 0 15.03 15.05 15.04

6496 -0.89 -87.6 2929 2350 3069 3351 439.8 -6.8 129 6498 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2350 3210 3069 3351 0 0 0 0 0 0 15.03 15.04 15.04

6797 -0.89 -87.6 2929 2350 3069 3348 461.8 -7.4 134 6798 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2350 3208 3069 3348 0 0 0 0 0 0 15.02 15.04 15.04

7098 -0.89 -87.6 2929 2350 3067 3348 484.6 -7.6 139 7099 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3207 3067 3347 0 0 0 0 0 0 15.02 15.04 15.04

7396 -0.89 -87.6 2929 2350 3067 3344 507.3 -7.5 144 7398 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3206 3068 3345 0 0 0 0 0 0 15.02 15.04 15.04

7696 -0.89 -87.6 2929 2350 3067 3344 529.0 -7.2 149 7698 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3205 3066 3344 0 0 0 0 0 0 15.02 15.04 15.04

7997 -0.89 -87.6 2929 2350 3066 3343 549.1 -6.6 154 7998 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3204 3066 3343 0 0 0 0 0 0 15.02 15.04 15.04

8298 -0.89 -87.6 2929 2350 3065 3342 568.1 -6.3 159 8299 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3203 3065 3342 0 0 0 0 0 0 14.97 14.99 14.99

8596 -0.89 -87.6 2929 2350 3063 3341 586.4 -6.1 164 8597 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3202 3063 3341 0 0 0 0 0 0 15.02 15.04 15.04

8896 -0.89 -87.6 2929 2350 3063 3340 603.7 -5.7 169 8897 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3201 3063 3340 0 0 0 0 0 0 15.02 15.04 15.04

9197 -0.89 -87.6 2929 2350 3063 3339 619.2 -5.2 174 9198 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3201 3063 3339 0 0 0 0 0 0 15.02 15.04 15.04

9498 -0.89 -87.6 2929 2350 3062 3339 633.6 -4.8 179 9499 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2350 3200 3062 3339 0 0 0 0 0 0 14.96 14.98 14.97

9796 -0.89 -87.6 2929 2350 3061 3337 647.5 -4.6 184 9797 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3199 3061 3337 0 0 0 0 0 0 14.95 14.97 14.97

10096 -0.89 -87.6 2929 2350 3061 3336 662.5 -5.0 189 10098 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3198 3061 3335 0 0 0 0 0 0 14.95 14.97 14.97

10397 -0.89 -87.6 2929 2350 3060 3336 679.5 -5.7 194 10398 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3198 3060 3336 0 0 0 0 0 0 14.95 14.97 14.97

10698 -0.89 -87.6 2929 2350 3059 3335 698.2 -6.3 199 10699 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3197 3059 3335 0 0 0 0 0 0 14.95 14.97 14.97

10996 -0.89 -87.6 2929 2350 3059 3335 718.2 -6.7 204 10998 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2350 3196 3058 3334 0 0 0 0 0 0 14.95 14.96 14.96

11297 -0.89 -87.6 2929 2350 3058 3334 737.6 -6.4 209 11298 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3196 3058 3334 0 0 0 0 0 0 14.94 14.96 14.95

11597 -0.89 -87.6 2929 2350 3058 3334 755.6 -6.0 214 11598 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3196 3058 3334 0 0 0 0 0 0 14.94 14.97 14.96

11898 -0.89 -87.6 2929 2350 3058 3334 772.4 -5.6 219 11899 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3195 3058 3333 0 0 0 0 0 0 14.95 14.97 14.97

12196 -0.89 -87.6 2929 2350 3057 3333 788.8 -5.5 224 12197 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3195 3057 3333 0 0 0 0 0 0 14.94 14.95 14.95

12496 -0.89 -87.6 2929 2350 3057 3333 805.2 -5.4 229 12497 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3195 3057 3333 0 0 0 0 0 0 14.93 14.95 14.95

12797 -0.89 -87.6 2929 2350 3057 3331 822.4 -5.7 234 12798 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3194 3057 3331 0 0 0 0 0 0 14.94 14.96 14.95

13098 -0.89 -87.6 2929 2350 3057 3330 840.3 -6.0 239 13099 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3194 3057 3331 0 0 0 0 0 0 14.94 14.96 14.96

13396 -0.89 -87.6 2929 2350 3057 3330 858.1 -5.8 244 13398 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3193 3057 3330 0 0 0 0 0 0 14.93 14.95 14.95

13696 -0.89 -87.6 2929 2350 3056 3330 873.7 -5.2 249 13698 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3193 3056 3330 0 0 0 0 0 0 14.93 14.95 14.95

13997 -0.89 -87.6 2929 2350 3056 3330 888.1 -4.7 254 13998 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3192 3056 3329 0 0 0 0 0 0 15.00 15.02 15.02

14298 -0.89 -87.6 2929 2350 3056 3329 901.2 -4.4 259 14299 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3192 3056 3329 0 0 0 0 0 0 14.94 14.96 14.95

14596 -0.89 -87.6 2929 2350 3055 3328 914.3 -4.4 264 14598 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3191 3055 3328 0 0 0 0 0 0 14.92 14.95 14.94

14896 -0.89 -87.6 2929 2350 3056 3327 928.5 -4.8 269 14898 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3191 3056 3327 0 0 0 0 0 0 14.92 14.94 14.94

15197 -0.89 -87.6 2929 2350 3056 3327 945.1 -5.6 274 15198 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3191 3056 3327 0 0 0 0 0 0 15.00 15.02 15.02

15498 -0.89 -87.6 2929 2350 3056 3327 964.0 -6.3 279 15499 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2350 3191 3056 3327 0 0 0 0 0 0 15.00 15.02 15.01

15796 -0.89 -87.6 2929 2351 3055 3327 984.6 -6.9 284 15798 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2351 3191 3055 3327 0 0 0 0 0 0 15.00 15.02 15.02

15914 end dive: TARGET_DEPTH_EXCEEDED

state 15914 begin apogee

15920 -0.19 0.0 2929 2351 3055 3326 993.0 -7.0 286 16002 0.77 0.00 78.45 2.127 10246 0.198 0.000 3157 2350 2866 2746 2987 0 0 0 0 0 0 13.62 13.93 12.70

16003 end apogee: CONTROL_FINISHED_OK

state 16003 begin loiter

16278 -0.20 -7.6 3157 2351 2737 2983 995.9 0.5 292 16279 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2351 2859 2736 2983 0 0 0 0 0 0 14.79 14.81 14.81

16577 -0.23 -20.0 3157 2351 2736 2980 993.6 0.8 297 16578 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2351 2858 2736 2981 0 0 0 0 0 0 14.89 14.91 14.90

16877 -0.23 -20.0 3157 2351 2735 2980 989.8 1.3 302 16878 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2351 2857 2735 2980 0 0 0 0 0 0 14.89 14.90 14.91

17176 -0.23 -20.0 3157 2351 2734 2981 984.9 1.7 307 17178 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2351 2857 2734 2980 0 0 0 0 0 0 14.90 14.92 14.92

17478 -0.23 -20.0 3157 2351 2733 2980 979.9 1.7 312 17479 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2351 2856 2733 2980 0 0 0 0 0 0 14.92 14.95 14.95

17776 -0.23 -20.0 3157 2351 2733 2980 975.6 1.4 317 17778 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2351 2856 2733 2980 0 0 0 0 0 0 14.92 14.95 14.95

18077 -0.26 -33.6 3157 2351 2733 2979 972.8 0.9 322 18078 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2351 2856 2733 2979 0 0 0 0 0 0 14.93 14.96 14.95

18377 -0.27 -39.6 3157 2351 2733 2979 971.5 0.4 327 18378 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2351 2856 2733 2979 0 0 0 0 0 0 15.00 15.02 15.02

18678 -0.27 -40.7 3157 2351 2732 2979 971.1 0.1 332 18684 0.00 2.58 0.00 0.000 260 0.000 0.114 3157 3757 2855 2732 2979 0 0 0 0 0 0 14.99 13.93 15.01

18896 -0.29 -48.9 3157 3757 2732 2979 970.4 0.5 376 18900 0.00 2.50 0.00 0.000 1030 0.000 0.071 3158 2335 2855 2732 2979 0 0 0 0 0 0 14.32 14.16 14.39

19214 -0.29 -48.9 3157 2336 2732 2978 967.4 1.0 384 19216 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 2336 2855 2732 2978 0 0 0 0 0 0 14.98 15.00 15.00

19513 -0.29 -48.9 3158 2336 2732 2978 962.2 1.8 389 19514 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 2336 2855 2732 2978 0 0 0 0 0 0 15.00 15.02 15.01

19813 -0.29 -48.9 3158 2336 2732 2978 955.1 2.4 394 19815 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 2336 2854 2732 2977 0 0 0 0 0 0 15.00 15.02 15.01

20113 -0.29 -48.9 3157 2336 2732 2977 947.5 2.5 399 20114 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 2336 2854 2731 2978 0 0 0 0 0 0 15.00 15.02 15.02

20414 -0.29 -48.9 3157 2336 2731 2977 941.6 1.9 404 20415 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2336 2854 2731 2977 0 0 0 0 0 0 15.00 15.02 15.01

20713 -0.29 -48.9 3157 2336 2732 2977 938.1 1.1 409 20714 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 2335 2854 2731 2977 0 0 0 0 0 0 15.00 15.02 15.02

21014 -0.31 -57.5 3157 2336 2731 2977 936.3 0.6 414 21016 0.12 0.00 0.00 0.000 4102 0.151 0.000 3113 2336 2854 2731 2977 0 0 0 0 0 0 14.50 14.56 14.54

21313 -0.32 -65.3 3113 2336 2732 2975 934.8 0.5 419 21314 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2336 2853 2731 2975 0 0 0 0 0 0 15.00 15.02 15.02

21615 -0.35 -79.0 3113 2336 2732 2975 932.2 0.9 424 21616 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2336 2853 2731 2975 0 0 0 0 0 0 14.98 15.00 15.00

21913 -0.35 -79.0 3113 2336 2732 2975 927.3 1.8 429 21914 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2336 2853 2731 2975 0 0 0 0 0 0 15.00 15.02 15.02

22213 -0.35 -79.0 3113 2336 2731 2974 920.0 2.5 434 22214 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2336 2852 2731 2974 0 0 0 0 0 0 15.00 15.02 15.02

22513 -0.35 -79.0 3113 2336 2731 2974 910.7 3.1 439 22514 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2336 2852 2731 2974 0 0 0 0 0 0 15.00 15.02 15.02

22814 -0.35 -79.0 3113 2336 2732 2974 901.2 3.2 444 22815 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2336 2853 2732 2974 0 0 0 0 0 0 14.98 15.01 15.00

23113 -0.35 -79.0 3113 2336 2731 2974 893.1 2.6 449 23114 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2336 2852 2731 2974 0 0 0 0 0 0 15.00 15.02 15.02

23413 -0.35 -79.0 3113 2336 2731 2974 887.2 1.9 454 23414 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2336 2852 2731 2974 0 0 0 0 0 0 14.99 15.02 15.01

23713 -0.35 -79.0 3113 2336 2731 2973 883.3 1.3 459 23714 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2336 2852 2731 2974 0 0 0 0 0 0 15.00 15.02 15.02

24014 -0.35 -79.0 3113 2336 2731 2974 879.8 1.2 464 24015 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2336 2852 2731 2974 0 0 0 0 0 0 14.99 15.00 15.00

24313 -0.35 -79.0 3113 2336 2730 2974 876.0 1.3 469 24314 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2336 2852 2730 2974 0 0 0 0 0 0 15.00 15.02 15.01

24613 -0.35 -79.0 3113 2336 2730 2974 871.6 1.4 474 24619 0.00 2.67 0.00 0.000 260 0.000 0.103 3112 3763 2852 2730 2974 0 0 0 0 0 0 14.99 13.68 15.01

24846 -0.35 -79.0 3112 3763 2730 2974 867.8 1.4 521 24853 0.00 2.53 0.00 0.000 1030 0.000 0.070 3113 2348 2852 2730 2974 0 0 0 0 0 0 14.14 13.97 14.21

25153 -0.35 -79.0 3112 2348 2730 2974 863.4 1.4 527 25154 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2348 2852 2730 2974 0 0 0 0 0 0 14.98 15.00 15.00

25453 -0.35 -79.0 3112 2348 2730 2974 859.2 1.4 532 25454 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2348 2852 2730 2974 0 0 0 0 0 0 14.99 15.01 15.00

25754 -0.35 -79.0 3112 2348 2730 2974 854.7 1.5 537 25755 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2348 2852 2730 2974 0 0 0 0 0 0 14.97 15.00 15.00

26053 -0.35 -79.0 3112 2348 2730 2974 850.3 1.5 542 26054 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2348 2852 2730 2974 0 0 0 0 0 0 14.99 15.01 15.00

26353 -0.35 -79.0 3112 2348 2730 2974 846.5 1.2 547 26354 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2349 2852 2730 2974 0 0 0 0 0 0 14.99 15.01 15.01

26653 -0.35 -79.0 3112 2348 2730 2974 843.2 1.1 552 26654 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2348 2852 2731 2974 0 0 0 0 0 0 14.99 15.01 15.01

26955 -0.38 -91.1 3112 2348 2730 2974 840.6 0.8 557 26956 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2348 2852 2730 2974 0 0 0 0 0 0 14.97 15.00 15.00

27254 -0.39 -98.7 3112 2348 2730 2974 839.2 0.5 562 27255 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2349 2852 2730 2974 0 0 0 0 0 0 14.99 15.01 15.00

27553 -0.41 -105.5 3112 2348 2730 2974 837.8 0.5 567 27555 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2348 2852 2730 2974 0 0 0 0 0 0 14.99 15.01 15.01

27853 -0.42 -113.0 3113 2348 2730 2974 836.2 0.5 572 27854 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2348 2852 2730 2974 0 0 0 0 0 0 14.99 15.01 15.01

28155 -0.45 -125.0 3112 2349 2730 2974 833.9 0.8 577 28157 0.12 0.00 0.00 0.000 4102 0.145 0.000 3077 2348 2852 2730 2974 0 0 0 0 0 0 14.48 14.52 14.51

28454 -0.47 -137.3 3076 2349 2730 2974 831.4 0.8 582 28455 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2348 2852 2730 2974 0 0 0 0 0 0 14.99 15.00 15.00

28753 -0.47 -137.3 3075 2348 2730 2974 828.1 1.1 587 28754 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2348 2852 2730 2974 0 0 0 0 0 0 14.99 15.01 15.01

29053 -0.47 -137.3 3075 2348 2730 2974 824.1 1.4 592 29054 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2348 2852 2730 2974 0 0 0 0 0 0 14.99 15.01 15.01

29354 -0.47 -137.3 3075 2348 2730 2974 818.9 1.8 597 29355 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2348 2852 2730 2974 0 0 0 0 0 0 14.98 15.00 15.00

29653 -0.47 -137.3 3075 2348 2730 2974 813.4 1.9 602 29654 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2348 2852 2730 2974 0 0 0 0 0 0 14.99 15.01 15.00

29953 -0.47 -137.3 3075 2348 2730 2974 806.9 2.2 607 29954 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2348 2852 2730 2974 0 0 0 0 0 0 14.99 15.01 15.01

30253 -0.47 -137.3 3075 2349 2730 2974 798.8 2.8 612 30254 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2348 2852 2730 2974 0 0 0 0 0 0 14.99 15.01 15.01

30554 -0.47 -137.3 3075 2348 2730 2974 789.7 3.0 617 30555 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2348 2851 2730 2973 0 0 0 0 0 0 14.98 15.00 15.00

30853 -0.47 -137.3 3075 2348 2730 2974 781.6 2.7 622 30854 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2348 2852 2730 2974 0 0 0 0 0 0 14.99 15.01 15.00

31153 -0.47 -137.3 3075 2348 2731 2974 775.8 1.8 627 31154 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2348 2852 2730 2974 0 0 0 0 0 0 14.99 15.01 15.01

31453 -0.50 -151.1 3075 2348 2730 2974 772.7 0.9 632 31454 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2348 2852 2730 2974 0 0 0 0 0 0 14.99 15.00 15.00

31755 -0.52 -159.3 3075 2348 2730 2974 771.0 0.5 637 31756 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2348 2852 2730 2974 0 0 0 0 0 0 14.97 15.00 15.00

32054 -0.55 -170.7 3075 2348 2730 2974 768.9 0.8 642 32055 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2348 2852 2730 2974 0 0 0 0 0 0 14.98 15.00 15.00

32353 -0.55 -170.7 3075 2348 2730 2974 764.4 1.6 647 32354 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2348 2852 2730 2974 0 0 0 0 0 0 14.99 15.01 15.01

32653 -0.55 -170.7 3075 2349 2730 2974 757.3 2.5 652 32654 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2349 2852 2730 2974 0 0 0 0 0 0 14.99 15.01 15.01

32954 -0.55 -170.7 3075 2348 2730 2974 748.4 3.0 657 32955 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2348 2852 2730 2974 0 0 0 0 0 0 14.97 15.00 15.00

33253 -0.55 -170.7 3075 2348 2730 2974 740.3 2.7 662 33254 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2348 2852 2730 2974 0 0 0 0 0 0 14.99 15.00 15.00

33553 -0.55 -170.7 3075 2348 2730 2974 734.0 2.0 667 33559 0.00 2.67 0.00 0.000 516 0.000 0.120 3075 952 2851 2730 2972 0 0 0 0 0 0 14.99 13.61 15.01

33787 -0.55 -170.7 3075 952 2730 2971 730.5 1.8 714 33793 0.00 2.53 0.00 0.000 1030 0.000 0.070 3075 2358 2851 2730 2972 0 0 0 0 0 0 14.07 13.93 14.15

34095 -0.57 -180.3 3074 2357 2731 2971 728.4 0.6 720 34097 0.10 0.00 0.00 0.000 4102 0.150 0.000 3018 2357 2850 2729 2972 0 0 0 0 0 0 14.57 14.57 14.57

34393 -0.58 -185.6 3018 2357 2730 2972 727.3 0.4 725 34394 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2357 2851 2730 2972 0 0 0 0 0 0 14.98 15.00 15.00

34694 -0.60 -194.9 3018 2357 2730 2971 725.6 0.6 730 34695 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2357 2851 2730 2972 0 0 0 0 0 0 14.98 15.00 15.00

34993 -0.60 -194.9 3018 2357 2730 2972 720.8 1.7 735 34994 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2357 2851 2730 2972 0 0 0 0 0 0 14.98 15.00 15.00

35294 -0.60 -194.9 3018 2357 2730 2972 712.7 2.8 740 35296 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2357 2850 2729 2972 0 0 0 0 0 0 14.97 15.00 15.00

35593 -0.60 -194.9 3019 2357 2730 2972 703.4 3.1 745 35594 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2357 2851 2730 2972 0 0 0 0 0 0 14.99 15.00 15.00

35893 -0.60 -194.9 3018 2357 2730 2972 695.9 2.3 750 35894 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2357 2851 2730 2972 0 0 0 0 0 0 14.98 15.00 15.00

36193 -0.60 -194.9 3018 2357 2730 2972 692.3 1.1 755 36194 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2357 2851 2730 2972 0 0 0 0 0 0 14.99 15.01 15.00

36495 -0.60 -197.0 3018 2357 2730 2972 691.6 0.1 760 36496 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2357 2851 2730 2972 0 0 0 0 0 0 14.97 15.00 15.00

36793 -0.61 -199.3 3018 2357 2730 2972 691.3 0.1 765 36794 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2357 2851 2730 2972 0 0 0 0 0 0 14.98 15.01 15.00

37094 -0.63 -209.2 3018 2357 2730 2972 689.6 0.7 770 37095 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2358 2851 2730 2972 0 0 0 0 0 0 14.98 15.00 15.00

37393 -0.63 -209.2 3018 2357 2730 2971 685.2 1.5 775 37399 0.00 2.60 0.00 0.000 260 0.000 0.108 3018 3751 2851 2730 2972 0 0 0 0 0 0 14.99 13.67 15.00

37626 -0.63 -209.2 3018 3752 2730 2971 680.9 1.8 822 37633 0.00 2.50 0.00 0.000 1030 0.000 0.067 3018 2354 2851 2730 2972 0 0 0 0 0 0 14.07 13.93 14.15

37933 -0.63 -209.2 3018 2355 2730 2972 676.7 1.3 828 37934 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2355 2851 2730 2972 0 0 0 0 0 0 14.97 15.00 15.00

38235 -0.64 -217.1 3018 2355 2730 2972 674.9 0.5 833 38236 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2355 2851 2730 2972 0 0 0 0 0 0 14.97 14.99 14.99

38534 -0.65 -220.1 3018 2355 2730 2972 674.4 0.2 838 38535 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2355 2851 2730 2972 0 0 0 0 0 0 14.98 15.00 15.00

38833 -0.66 -225.5 3018 2355 2730 2972 673.4 0.4 843 38834 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2355 2851 2730 2972 0 0 0 0 0 0 14.98 15.00 15.00

39133 -0.66 -225.5 3018 2355 2730 2972 670.4 1.0 848 39140 0.00 2.67 0.00 0.000 516 0.000 0.116 3018 947 2851 2730 2972 0 0 0 0 0 0 14.99 13.64 15.00

39146 -0.66 -225.5 3018 947 2730 2972 670.1 1.4 851 39150 0.00 2.50 0.00 0.000 1030 0.000 0.067 3018 2350 2850 2729 2972 0 0 0 0 0 0 14.10 13.96 14.17

39488 -0.66 -225.5 3018 2350 2730 2972 663.6 2.1 864 39489 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2350 2851 2730 2972 0 0 0 0 0 0 14.98 15.00 15.00

39788 -0.66 -225.5 3018 2350 2730 2972 656.0 2.6 869 39789 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2350 2851 2730 2972 0 0 0 0 0 0 14.98 15.00 15.00

40090 -0.66 -225.5 3018 2350 2730 2972 649.3 2.2 874 40091 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2349 2851 2730 2972 0 0 0 0 0 0 14.97 15.00 15.00

40388 -0.66 -225.5 3018 2350 2730 2970 644.7 1.5 879 40389 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2350 2851 2730 2972 0 0 0 0 0 0 14.99 15.01 15.00

40688 -0.69 -237.2 3018 2350 2730 2971 642.2 0.8 884 40689 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2349 2851 2730 2972 0 0 0 0 0 0 14.98 15.00 15.00

40988 -0.69 -240.2 3018 2350 2730 2972 641.4 0.2 889 40989 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2349 2851 2730 2972 0 0 0 0 0 0 14.99 15.00 15.00

41290 -0.70 -242.0 3018 2349 2730 2972 641.1 0.1 894 41291 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2349 2851 2730 2972 0 0 0 0 0 0 14.97 15.00 14.99

41589 -0.70 -244.7 3018 2349 2730 2972 640.6 0.2 899 41590 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2350 2851 2730 2972 0 0 0 0 0 0 14.98 15.01 15.00

41888 -0.71 -248.6 3018 2350 2730 2972 639.9 0.3 904 41889 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2350 2851 2730 2972 0 0 0 0 0 0 14.99 15.01 15.00

42188 -0.72 -254.3 3018 2350 2730 2972 638.8 0.4 909 42190 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2350 2851 2730 2972 0 0 0 0 0 0 14.98 15.00 15.00

42490 -0.74 -263.5 3018 2349 2730 2972 637.2 0.6 914 42492 0.12 0.00 0.00 0.000 4102 0.132 0.000 2974 2350 2851 2730 2972 0 0 0 0 0 0 14.48 14.51 14.50

42788 -0.77 -276.1 2971 2350 2730 2972 634.9 0.8 919 42790 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2350 2850 2729 2972 0 0 0 0 0 0 14.99 15.00 15.00

43088 -0.79 -288.2 2972 2349 2730 2972 632.6 0.8 924 43090 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2350 2851 2730 2972 0 0 0 0 0 0 14.98 15.01 15.01

43388 -0.81 -294.6 2972 2350 2730 2972 631.2 0.4 929 43390 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2350 2851 2730 2972 0 0 0 0 0 0 14.98 15.01 15.00

43690 -0.82 -301.4 2972 2350 2730 2972 629.9 0.5 934 43691 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2350 2851 2730 2972 0 0 0 0 0 0 14.97 15.00 14.99

43988 -0.84 -311.8 2971 2350 2730 2972 628.0 0.7 939 43990 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2350 2851 2730 2972 0 0 0 0 0 0 14.99 15.00 15.00

44288 -0.87 -324.5 2971 2350 2730 2972 625.6 0.8 944 44290 0.00 0.00 0.00 0.000 6 0.000 0.000 2971 2350 2851 2730 2972 0 0 0 0 0 0 14.99 15.00 15.00

44588 -0.87 -324.5 2971 2350 2730 2972 622.4 1.1 949 44589 0.00 0.00 0.00 0.000 6 0.000 0.000 2971 2350 2850 2730 2971 0 0 0 0 0 0 14.99 15.01 15.01

44825 end loiter: LOITER_COMPLETE

state 44826 begin climb

44828 0.89 87.6 2970 2350 2730 2972 619.7 0.0 953 44920 1.88 0.00 82.18 1.865 10246 0.201 0.000 3501 2350 2508 2411 2606 0 0 0 0 1 0 13.57 13.85 12.73

45190 0.96 87.6 3501 2350 2408 2605 602.3 5.3 959 45191 0.00 0.00 0.00 0.000 6 0.000 0.000 3501 2350 2506 2408 2605 0 0 0 0 0 0 14.75 14.77 14.77

45488 1.03 87.6 3501 2350 2406 2605 586.4 5.3 964 45490 0.15 0.00 0.00 0.000 2054 0.122 0.000 3565 2350 2505 2406 2605 0 0 0 0 0 0 14.42 14.50 14.47

45788 1.11 87.6 3564 2350 2406 2604 570.4 5.3 969 45790 0.00 0.00 0.00 0.000 6 0.000 0.000 3564 2350 2505 2407 2604 0 0 0 0 0 0 14.91 14.92 14.92

46088 1.23 87.6 3564 2350 2406 2603 556.5 4.5 974 46090 0.17 0.00 0.00 0.000 2054 0.114 0.000 3628 2350 2505 2406 2604 0 0 0 0 0 0 14.42 14.51 14.48

46390 1.27 87.6 3628 2350 2406 2604 539.4 5.8 979 46391 0.00 0.00 0.00 0.000 6 0.000 0.000 3628 2350 2504 2406 2603 0 0 0 0 0 0 14.90 14.92 14.92

46688 1.27 87.6 3628 2350 2406 2602 521.1 6.1 984 46689 0.00 0.00 0.00 0.000 6 0.000 0.000 3629 2350 2504 2406 2602 0 0 0 0 0 0 14.90 14.92 14.92

46988 1.27 87.6 3628 2350 2406 2602 501.3 6.6 989 46989 0.00 0.00 0.00 0.000 6 0.000 0.000 3628 2350 2504 2406 2602 0 0 0 0 0 0 14.90 14.92 14.92

47288 1.27 87.6 3628 2349 2406 2602 480.4 7.0 994 47289 0.00 0.00 0.00 0.000 6 0.000 0.000 3629 2350 2504 2406 2602 0 0 0 0 0 0 14.91 14.92 14.92

47590 1.27 87.6 3628 2350 2406 2602 459.9 6.8 999 47591 0.00 0.00 0.00 0.000 6 0.000 0.000 3629 2350 2504 2406 2602 0 0 0 0 0 0 14.92 14.94 14.94

47888 1.27 87.6 3628 2350 2406 2602 439.9 6.6 1004 47889 0.00 0.00 0.00 0.000 6 0.000 0.000 3629 2350 2504 2406 2602 0 0 0 0 0 0 14.91 14.93 14.93

48188 1.27 87.6 3628 2350 2406 2602 422.0 5.9 1009 48189 0.00 0.00 0.00 0.000 6 0.000 0.000 3628 2350 2504 2406 2602 0 0 0 0 0 0 14.91 14.93 14.93

48488 1.33 87.6 3628 2350 2406 2602 405.3 5.5 1014 48490 0.00 0.00 0.00 0.000 6 0.000 0.000 3628 2350 2504 2406 2602 0 0 0 0 0 0 14.99 15.01 15.00

48790 1.39 87.6 3628 2349 2406 2602 389.0 5.4 1019 48792 0.12 0.00 0.00 0.000 2054 0.137 0.000 3678 2350 2504 2406 2602 0 0 0 0 0 0 14.52 14.57 14.55

49088 1.39 87.6 3678 2350 2406 2602 370.0 6.3 1024 49089 0.00 0.00 0.00 0.000 6 0.000 0.000 3679 2350 2504 2406 2602 0 0 0 0 0 0 14.91 14.93 14.92

49388 1.39 87.6 3678 2350 2406 2602 349.9 6.8 1029 49389 0.00 0.00 0.00 0.000 6 0.000 0.000 3678 2350 2504 2406 2602 0 0 0 0 0 0 14.91 14.93 14.93

49688 1.39 87.6 3678 2350 2407 2602 327.7 7.5 1034 49689 0.00 0.00 0.00 0.000 6 0.000 0.000 3678 2350 2504 2406 2602 0 0 0 0 0 0 15.00 15.01 15.01

49990 1.39 87.6 3678 2350 2406 2602 305.1 7.5 1039 49991 0.00 0.00 0.00 0.000 6 0.000 0.000 3678 2350 2504 2406 2602 0 0 0 0 0 0 14.98 15.00 15.00

50288 1.39 87.6 3678 2350 2406 2602 284.5 6.7 1044 50289 0.00 0.00 0.00 0.000 6 0.000 0.000 3678 2350 2504 2406 2602 0 0 0 0 0 0 14.90 14.93 14.93

50588 1.39 87.6 3678 2350 2406 2602 263.3 7.2 1049 50589 0.00 0.00 0.00 0.000 6 0.000 0.000 3678 2350 2504 2406 2602 0 0 0 0 0 0 15.00 15.01 15.01

50888 1.39 87.6 3678 2349 2405 2602 244.8 6.0 1054 50889 0.00 0.00 0.00 0.000 6 0.000 0.000 3678 2350 2504 2406 2602 0 0 0 0 0 0 14.91 14.93 14.92

51190 1.47 87.6 3678 2350 2406 2602 228.7 5.3 1059 51191 0.00 0.00 0.00 0.000 6 0.000 0.000 3678 2350 2503 2405 2602 0 0 0 0 0 0 14.98 15.00 15.00

51488 1.55 87.6 3678 2349 2406 2601 213.1 5.2 1064 51490 0.12 0.00 0.00 0.000 2054 0.141 0.000 3726 2350 2504 2406 2602 0 0 0 0 0 0 14.47 14.52 14.50

51788 1.55 87.6 3726 2350 2406 2602 191.1 7.6 1069 51789 0.00 0.00 0.00 0.000 6 0.000 0.000 3726 2351 2504 2406 2602 0 0 0 0 0 0 14.91 14.93 14.92

52088 1.55 87.6 3726 2350 2406 2602 168.7 7.4 1074 52090 0.00 0.00 0.00 0.000 6 0.000 0.000 3726 2350 2504 2406 2602 0 0 0 0 0 0 14.91 14.92 14.92

52391 1.65 87.6 3726 2350 2406 2602 153.7 4.8 1079 52392 0.00 0.00 0.00 0.000 6 0.000 0.000 3726 2350 2504 2406 2602 0 0 0 0 0 0 14.92 14.95 14.95

52688 1.81 87.6 3726 2350 2406 2602 141.4 4.1 1084 52690 0.22 0.00 0.00 0.000 2054 0.105 0.000 3814 2350 2504 2406 2602 0 0 0 0 0 0 14.35 14.46 14.42

52988 1.89 87.6 3813 2350 2406 2602 126.4 5.2 1089 52990 0.00 0.00 0.00 0.000 6 0.000 0.000 3813 2350 2504 2406 2602 0 0 0 0 0 0 15.00 15.02 15.01

53288 2.05 87.6 3814 2350 2406 2602 114.2 4.1 1094 53290 0.20 0.00 0.00 0.000 2054 0.107 0.000 3887 2351 2504 2406 2602 0 0 0 0 0 0 14.38 14.49 14.45

53590 2.22 168.6 3887 2351 2406 2602 108.7 1.0 1099 53662 0.15 0.00 69.15 0.975 10246 0.123 0.000 3957 2350 2178 2118 2239 0 0 0 0 0 0 14.46 14.17 13.45

53950 2.29 168.6 3957 2350 2108 2228 86.6 5.4 1105 53951 0.00 0.00 0.00 0.000 6 0.000 0.000 3957 2351 2168 2108 2229 0 0 0 0 0 0 14.81 14.82 14.82

54248 2.41 168.6 3957 2351 2107 2228 71.6 4.7 1110 54250 0.00 0.00 0.00 0.000 2054 0.000 0.000 3957 2351 2167 2107 2228 0 0 0 0 0 0 14.92 14.93 14.93

54549 2.53 226.6 3957 2351 2107 2228 63.6 2.5 1115 54596 0.00 0.00 44.60 0.860 10246 0.000 0.000 3957 2351 1941 1881 2002 0 0 0 0 0 0 14.95 14.30 13.63

54849 2.53 226.6 3957 2351 1873 1998 37.7 9.5 1120 54851 0.00 0.00 0.00 0.000 2054 0.000 0.000 3956 2351 1935 1873 1998 0 0 0 0 0 0 14.88 14.89 14.89

55148 2.53 226.6 3957 2350 1873 1998 11.3 8.6 1125 55149 0.00 0.00 0.00 0.000 2054 0.000 0.000 3957 2351 1935 1873 1998 0 0 0 0 0 0 14.95 14.96 14.96

55266 end climb: SURFACE_DEPTH_REACHED

state 55266 begin surface coast

55327 end surface coast: CONTROL_FINISHED_OK

state 55327 begin surface

ID	528	HD_C	4.38354e-05	ROLL_DEG	40	ALTIM_BOTTOM_PING_RANGE	0
MISSION	3	HEADING	-1	C_ROLL_DIVE	2350	ALTIM_TOP_PING_RANGE	0
DIVE	655	ESCAPE_HEADING	0	C_ROLL_CLIMB	2350	ALTIM_BOTTOM_TURN_MARGIN	12
N_DIVES	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	170	ALTIM_TOP_TURN_MARGIN	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	TGT_DEFAULT_LAT	4212	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LON	-7043	R_PORT_OVSHOOT	19	ALTIM_PING_DELTA	10
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	22	ALTIM_FREQUENCY	13
D_NO_BLEED	50	SM_CC	450	ROLL_AD_RATE	250	ALTIM_PULSE	3
D_BOOST	20	N_FILEKB	8	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
T_BOOST	5	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_VALID	2
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_PITCH	0	COMM_SEQ	0	VBD_MIN	500	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	PROTOCOL	9	VBD_MAX	3959	INT_PRESSURE_YINT	0.85000002
D_CALL	0	N_NOCOMM	2	C_VBD	2867	DEEPGLIDER	0
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.245296	DEVICE1	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE2	-1
T_DIVE	520	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE3	-1
T_MISSION	1000	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00211	DEVICE4	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE5	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	DEVICE6	-1
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_NO_W	120	T_GPS	5	UNCOM_BLEED	50	LOGGERDEVICE1	-1
T_LOITER	28800	N_GPS	100440	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
T_EPIRB	0	T_RSLEEP	1	W_ADJ_DBAND	3	LOGGERDEVICE3	-1
USE_BATHY	-6	STROBE	0	DBDW	0	LOGGERDEVICE4	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	7	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0.5	COMPASS2_DEVICE	-1
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	PHONE_DEVICE	49
T_WATCHDOG	10	PITCH_MIN	200	AH0_24V	350	GPS_DEVICE	32
RELAUNCH	1	PITCH_MAX	3970	AH0_10V	0	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	C_PITCH	3220	MINV_24V	10.5	XPDR_DEVICE	24
MAX_BUOY	90	PITCH_DBAND	0.1	MINV_10V	10.5	SIM_W	0
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_24V	0.60000002	SIM_PITCH	0
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	MAXI_10V	0.80000001	SEABIRD_T_G	0.0043548695
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SEABIRD_T_H	0.0006268858
RHO	1.0275	PITCH_GAIN	27	FG_AHR_24V	0	SEABIRD_T_I	2.3578436e-05
MASS	52309	PITCH_TIMEOUT	16	PHONE_SUPPLY	-2	SEABIRD_T_J	2.4722265e-06
MASS_COMP	0	PITCH_AD_RATE	120	PRESSURE_YINT	-56.708107	SEABIRD_C_G	-10.467909
NAV_MODE	2	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00011645618	SEABIRD_C_H	1.2025218
FERRY_MAX	45	PITCH_ADJ_GAIN	0	AD7714Ch0Gain	128	SEABIRD_C_I	-0.00091677177
KALMAN_USE	2	PITCH_ADJ_DBAND	0	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00016246161
HD_A	0.0026437801	ROLL_MIN	300	TCM_ROLL_OFFSET	0
HD_B	0.018580301	ROLL_MAX	3830	COMPASS_USE	4

GPS1	120617,164229,321.3213,5651.9658,39,1.0,42,-2.3,0.5,105.5,7,9.1	SPEED_LIMITS	0.110,0.112
_CALLS	1	TGT_NAME	DIGURA
_XMS_NAKs	0	TGT_LATLONG	330.000,7230.000
_XMS_TOUTs	0	TGT_RADIUS	10000.000
_SM_DEPTHo	0.64	MHEAD_RNG_PITCHd_Wd	110.0,1733917,-19.0,-6.346,-29.47,1557
_SM_ANGLEo	-71.3	D_GRID	1000
GPS2	120617,164801,321.2835,5652.0508,7,0.8,12,-2.3,0.9,119.4,9,8.9

FINISH	-0.4,1.000073	_10V_AH	13.08,0.000
SM_CCo	55346,100.00,0.074,0,0,1031,450.12	FG_AHR_24Vo	0.000
SM_GC	0.56,10.00,0.00,100.00,0.065,0.000,0.074,171,2351,1031,-9.41,0.03,450.12,0,0,0,0,0,0,14.38,14.95,14.33	FG_AHR_10Vo	0.000
IRIDIUM_FIX	316.36,5650.96,120617,010327	MEM	310156
TT8_MAMPS	0.025466,0.110852	DATA_FILE_SIZE	50058,1128
HUMID	48.22	CAP_FILE_SIZE	218214,0
INTERNAL_PRESSURE	9.70776	CFSIZE	2097872896,2007334912
TCM_TEMP	26.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	278	CURRENT	0.081,93.01,1
_24V_AH	12.57,188.219	GPS	130617,081400,321.168,5654.378,41,1.1,44,-2.3,0.3,104.1,7,9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	345	111.60	SBE_CT	632	23	184.50
Roll_motor	30	120	46.57	nil	0	0	0.00
VBD_pump_during_apogee	274	2126	7334.76	nil	0	0	0.00
VBD_pump_during_surface	100	74	93.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	218	174	478.72	nil	0	0	0.00
Transponder_ping	69	420	366.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	44	7.62
TT8	2847	11	426.79
LPSleep	50076	2	1434.45
TT8_Active	594	11	89.11
TT8_Sampling	1818	31	753.89
TT8_CF8	435	37	214.82
TT8_Kalman	0	0	0.00
Analog_circuits	1779	15	360.71
GPS_charging	0	0	0.00
Compass	1608	16	346.73
RAFOS	0	0	0.00
Transponder	0	5	0.04